EP4085863A4 - Surgical effector, surgical tool and surgical robot - Google Patents

Surgical effector, surgical tool and surgical robot Download PDF

Info

Publication number
EP4085863A4
EP4085863A4 EP20910042.9A EP20910042A EP4085863A4 EP 4085863 A4 EP4085863 A4 EP 4085863A4 EP 20910042 A EP20910042 A EP 20910042A EP 4085863 A4 EP4085863 A4 EP 4085863A4
Authority
EP
European Patent Office
Prior art keywords
surgical
effector
robot
tool
surgical tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20910042.9A
Other languages
German (de)
French (fr)
Other versions
EP4085863A1 (en
Inventor
Kai Xu
Yitang REN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Surgerii Robot Co Ltd
Original Assignee
Beijing Surgerii Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Surgerii Robot Co Ltd filed Critical Beijing Surgerii Robot Co Ltd
Publication of EP4085863A1 publication Critical patent/EP4085863A1/en
Publication of EP4085863A4 publication Critical patent/EP4085863A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2933—Transmission of forces to jaw members camming or guiding means
    • A61B2017/2936—Pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A61B2017/294—Connection of actuating rod to jaw, e.g. releasable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2948—Sealing means, e.g. for sealing the interior from fluid entry

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
EP20910042.9A 2019-12-30 2020-12-21 Surgical effector, surgical tool and surgical robot Pending EP4085863A4 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201911391781 2019-12-30
CN201911393792 2019-12-30
CN201911391778 2019-12-30
CN201911392107 2019-12-30
CN201911392141 2019-12-30
PCT/CN2020/138011 WO2021136004A1 (en) 2019-12-30 2020-12-21 Surgical effector, surgical tool and surgical robot

Publications (2)

Publication Number Publication Date
EP4085863A1 EP4085863A1 (en) 2022-11-09
EP4085863A4 true EP4085863A4 (en) 2023-11-01

Family

ID=76687359

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20910042.9A Pending EP4085863A4 (en) 2019-12-30 2020-12-21 Surgical effector, surgical tool and surgical robot

Country Status (7)

Country Link
US (1) US12070208B2 (en)
EP (1) EP4085863A4 (en)
JP (1) JP7423791B2 (en)
KR (1) KR20220110245A (en)
CN (1) CN114929151A (en)
CA (1) CA3165884A1 (en)
WO (1) WO2021136004A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114711952A (en) * 2022-04-27 2022-07-08 浙江天松医疗器械股份有限公司 Binding clip of bipolar coagulation pincers
CN116370063B (en) * 2023-03-10 2023-10-27 极限人工智能有限公司 Active surgical instrument, surgical robot and method for realizing electrode passage

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4220644C1 (en) * 1992-06-24 1994-01-05 Rema Medizintechnik Gmbh Surgical instrument with sliding actuating member - has annular grommets sealed to member and enclosing tube at inner and outer edges at forward and rear ends
US20070084899A1 (en) * 2005-10-14 2007-04-19 Tyco Healthcare Group Lp Apparatus for laparoscopic or endoscopic procedures
US8231652B2 (en) * 2004-04-26 2012-07-31 Boston Scientific Scimed, Inc. Instrument with sealing device and methods of advancing fluid therethrough
US20120209289A1 (en) * 2011-02-15 2012-08-16 Intuitive Surgical Operations, Inc. Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft
US20140277106A1 (en) * 2013-03-18 2014-09-18 Intuitive Surgical Operations, Inc. Surgical instrument drive element, and related devices, systems, and methods

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CA2106126A1 (en) 1992-09-23 1994-03-24 Ian M. Scott Bipolar surgical instruments
US5467911A (en) * 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
US5603711A (en) 1995-01-20 1997-02-18 Everest Medical Corp. Endoscopic bipolar biopsy forceps
US5637110A (en) 1995-01-31 1997-06-10 Stryker Corporation Electrocautery surgical tool with relatively pivoted tissue engaging jaws
JP3571414B2 (en) * 1995-05-11 2004-09-29 オリンパス株式会社 Ultrasonic incision coagulation equipment
DE10236070B4 (en) 2002-08-07 2009-10-08 Richard Wolf Gmbh Medical forceps
DE60333799D1 (en) 2003-06-13 2010-09-23 Covidien Ag VESSEL HANDLING AND DISCONNECTING DEVICE FOR USE WITH SMALL TROCAR AND CANNULA
US7232440B2 (en) 2003-11-17 2007-06-19 Sherwood Services Ag Bipolar forceps having monopolar extension
US7879035B2 (en) 2005-09-30 2011-02-01 Covidien Ag Insulating boot for electrosurgical forceps
EP1769765B1 (en) 2005-09-30 2012-03-21 Covidien AG Insulating boot for electrosurgical forceps
EP2040634B1 (en) 2006-07-13 2014-06-11 Bovie Medical Corporation Surgical sealing and cutting apparatus
US8475453B2 (en) 2006-10-06 2013-07-02 Covidien Lp Endoscopic vessel sealer and divider having a flexible articulating shaft
US8197479B2 (en) 2008-12-10 2012-06-12 Tyco Healthcare Group Lp Vessel sealer and divider
BRPI1005148A2 (en) 2009-01-16 2019-09-24 Wom Ind Srl mini-invasive surgery fit surgical instrument equipment
EP2403421B1 (en) 2009-03-05 2019-07-31 Covidien LP Endoscopic vessel sealer and divider having a flexible articulating shaft
US20110046620A1 (en) * 2009-08-19 2011-02-24 Triangle Biomedical Sciences, Inc. Cordless heated forceps
CN201775678U (en) 2010-07-16 2011-03-30 周炎明 Bipolar single open separating clamp
CN102178559B (en) 2011-05-24 2016-01-20 胡伟九 High-frequency bipolar closed cutting forceps
CN102204844B (en) 2011-05-24 2015-12-02 胡伟九 Closed cutting pliers head device of high-frequency bipolar closed cutting pliers
JP6027770B2 (en) * 2011-06-30 2016-11-16 オリンパス株式会社 Treatment instrument, manipulator, and surgery support system
CN103419179B (en) * 2013-07-05 2015-11-25 杭州巨星科技股份有限公司 Diving electric tool
CN107205787B (en) 2014-12-19 2020-03-20 迪斯透莫森公司 Reusable surgical instrument for minimally invasive surgery
US10617411B2 (en) * 2015-12-01 2020-04-14 Covidien Lp Adapter assembly for surgical device
JP6636816B2 (en) 2016-02-12 2020-01-29 株式会社ニチオン Operating force transmitting mechanism for surgical forceps and surgical forceps provided with the operating force transmitting mechanism
CN106236155A (en) 2016-09-13 2016-12-21 张卫民 A kind of multi-functional continuous biopsy forceps
US11793537B2 (en) * 2017-10-30 2023-10-24 Cilag Gmbh International Surgical instrument comprising an adaptive electrical system
CN109350236B (en) 2018-11-26 2024-06-21 杭州欧创医疗器械有限公司 Electric coagulation shear and clamp head processing technology thereof
CN209404944U (en) 2018-11-26 2019-09-20 杭州欧创医疗器械有限公司 Coagulation clipping and its binding clip
CN209770446U (en) 2018-12-27 2019-12-13 北京术锐技术有限公司 Single-opening needle holder and flexible surgical robot
CN209595885U (en) 2018-12-27 2019-11-08 北京术锐技术有限公司 A kind of compliant tail portions device and monopole operation tool
CN209770428U (en) 2018-12-27 2019-12-13 北京术锐技术有限公司 Driving device of surgical tool head
CN109498149B (en) 2018-12-27 2024-03-29 北京术锐机器人股份有限公司 Surgical tool
CN110037820A (en) * 2019-04-26 2019-07-23 胡斐凡 A kind of Handleset and electric toothbrush

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4220644C1 (en) * 1992-06-24 1994-01-05 Rema Medizintechnik Gmbh Surgical instrument with sliding actuating member - has annular grommets sealed to member and enclosing tube at inner and outer edges at forward and rear ends
US8231652B2 (en) * 2004-04-26 2012-07-31 Boston Scientific Scimed, Inc. Instrument with sealing device and methods of advancing fluid therethrough
US20070084899A1 (en) * 2005-10-14 2007-04-19 Tyco Healthcare Group Lp Apparatus for laparoscopic or endoscopic procedures
US20120209289A1 (en) * 2011-02-15 2012-08-16 Intuitive Surgical Operations, Inc. Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft
US20140277106A1 (en) * 2013-03-18 2014-09-18 Intuitive Surgical Operations, Inc. Surgical instrument drive element, and related devices, systems, and methods

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021136004A1 *

Also Published As

Publication number Publication date
WO2021136004A1 (en) 2021-07-08
EP4085863A1 (en) 2022-11-09
KR20220110245A (en) 2022-08-05
CA3165884A1 (en) 2021-07-08
US20230052924A1 (en) 2023-02-16
CN114929151A (en) 2022-08-19
JP7423791B2 (en) 2024-01-29
US12070208B2 (en) 2024-08-27
JP2023509658A (en) 2023-03-09

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Owner name: BEIJING SURGERII ROBOTICS COMPANY LIMITED

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Effective date: 20231002

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